A deep-sea organism capture and sampling device

Abstract

The present invention proposes a device for capturing and sampling deep-sea organisms, including: a control module, which is used to realize the necessary logical mathematical operations according to the control requirements and the feedback signals of the sensors, and send control signals to the motor drive, including a human-computer interaction unit, an FPGA chip, a FLASH chip, an STM chip and an auxiliary circuit interface; a transmission module, which is used to transmit the torque required by the system, including a motor, a reducer, a transmission shaft, a bevel gear set, and other auxiliary devices; an execution module, which is used to realize the action, including: a capturer and a sampler; a detection module, which is used for a real-time monitoring system, including a binocular camera and various sensors. The present invention is like origami opening and closing to capture soft deep-sea organisms. The whole process will shoot videos, extract DNA samples, etc., and try not to harm the organisms; in addition, the embedded human-computer interface with a touch screen of the present invention can run independently without a PC, which saves costs and is convenient and reliable.

Description

Technical Field

[0001] The invention relates to a capture and sampling device, in particular to a capture and sampling device for deep-sea organisms. Background Art

[0002] The 21st century will be a new era of development of high-tech technologies such as computer technology, communication technology, optomechanical integration, and global manufacturing models. In modern industrial automation technology, motion control technology represents the most extensive use and undertakes the most complex tasks.

[0003] With the increasing attention paid to marine resources, the exploration and sampling of seabed organisms is particularly important. However, completing such an underwater sampling operation is not only a matter of a single underwater sampling module, but also requires a fixed platform on the water surface (stationary ships, offshore platforms, etc.) and a larger underwater vehicle as supporting equipment. There are two popular ways to carry samplers internationally: one is to use it as a working module, carried on various underwater vehicles (ROV, AUV, HOV, etc.), and the underwater vehicle moves the sampling equipment to a specific location for sampling; the other is to use a cable to directly drop the sampling equipment from the ship into the water, and reach the collection location vertically by retracting and releasing the cable for operation.

[0004] The most prominent problem is that the real-time data processing cannot be guaranteed, resulting in large motion errors. No matter which technology is adopted, the above samplers cannot work independently without a PC. Most importantly, for the sampling of some mollusks, the current method is basically to catch the mollusks from the sea and sample them on the shore, so that many organisms will lose their lives. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned prior art and propose a new type of capture and sampling device that does not harm soft deep-sea organisms. Sampling is carried out directly in the sea and the organisms are released after sampling, thus avoiding the process of catching the mollusks from the sea and sampling them on the shore.

[0006] The present invention first provides a deep-sea organism capture and sampling device, comprising:

[0007] The execution module includes a trapping device and a sampling device, wherein the trapping device is used to trap the target organisms, and the sampling device is used to sample the target organisms, and the sampling device includes a rigid support shaft and a telescopic sampling needle arranged inside the rigid support shaft, and the rigid support shaft is connected to the trapping device;

[0008] The monitoring module includes a binocular camera, which is used to monitor the real-time status of the capture device and generate feedback signals, and to detect the sampling status of the sampling device and generate sampling information;

[0009] The motion controller includes an FPGA chip and an STM chip; the FPGA chip is used to receive the feedback signal generated by the monitoring module, judge the distance between the trapping device and the target organism according to the feedback signal and generate data information; the FPGA chip is also used to receive sampling information and generate data information, and the STM chip receives the data information generated by the FPGA chip and generates control instructions according to the data information;

[0010] The transmission module comprises a motor, a reducer, a transmission shaft connected to the reducer, a bevel gear set transmission-connected to the transmission shaft, a gear shaft arranged on the bevel gear set, and a wire rope connected to the gear shaft; the motor receives a control instruction and performs forward or reverse rotation according to the control instruction; the reducer is transmission-connected to the motor; the bevel gear set comprises a large bevel gear and a plurality of small bevel gears, and the large bevel gears are meshed with the small bevel gears; the large bevel gear is arranged on the transmission shaft, and the small bevel gear is connected with the gear shaft; the gear shaft is connected to the trapping device through a wire rope;

[0011] The power supply is used to provide power to the execution module, the monitoring module, the motion control module and the transmission module.

[0012] As a preferred embodiment of the present invention, the trapping device includes a plurality of shells, which are all arranged on a rotating member and can be closed around the rotating member to form a hollow spherical shell; the number of the shells is the same as the number of small bevel gears, and each shell is connected to a small bevel gear via a wire rope.

[0013] As a preferred embodiment of the present invention, a tension spring is provided on the shell, one end of the tension spring is connected to the shell, and the other end is connected to the rotating part; when the wire rope is loose, under the action of the tension spring, the shell is closed around the rotating point; when the wire rope is tightened, the shell overcomes the action of the tension spring and opens around the rotating point; the rotating point is the hinge point of the shell on the rotating part.

[0014] As a preferred solution of the present invention, the motion control module further includes a FLASH chip as a power-on configuration device for the FPGA chip, and the FLASH chip is used to ensure that the FPGA chip can continue to work after being powered on again.

[0015] As a preferred solution of the present invention, the motion controller further comprises a human-machine interface interaction unit, and the human-machine interface interaction unit is used to input control parameters of the motor, and the control parameters include the direction and speed of rotation of the motor.

[0016] As a preferred embodiment of the present invention, the capture and sampling device is also provided with a speed sensor and a position sensor.

[0017] As a preferred solution of the present invention, the motion controller is also provided with an auxiliary circuit interface; the auxiliary circuit interface includes a USB interface, a TPS2041BDBV chip, an SP3232 chip, a clock circuit, a reset circuit and an ARMCoreSight debugging interface.

[0018] The present invention also provides a roundup sampling method based on the roundup sampling device, comprising the following steps:

[0019] 1) placing the trapping sampling device in an area with a sampling target, and monitoring the trapping device in real time by a binocular camera;

[0020] 2) The binocular camera sends feedback information to the control module. The FPGA chip determines the distance between the trap and the target organism based on the feedback signal. When the distance reaches the set threshold range, the FPGA chip generates data information and sends the data information to the STM chip. The STM chip receives the data information generated by the FPGA chip and issues control instructions to the transmission module based on the data information.

[0021] 3) The motor of the transmission module receives the control command to rotate forward, and the reducer connected to the motor transmission reduces speed and increases torque, and transmits power to the large bevel gear of the bevel gear set through the transmission shaft. The large bevel gear drives the small bevel gear to rotate, and the gear shaft rotates with the rotation of the small bevel gear;

[0022] 4) The rotation of the gear shaft drives the wire rope, and the wire rope pulls the trapping device to trap the target organisms;

[0023] 5) When the target organism is captured, the STM chip sends a control command to the sampling device, and the retractable sampling needle extends from the inside of the rigid support shaft to sample the captured target organism;

[0024] 6) After the sampling is completed, the telescopic sampling needle retracts into the rigid support shaft; the binocular camera feeds back the sampling information to the FPGA chip, the FPGA chip generates data information and sends it to the STM chip, the STM chip receives the data information generated by the FPGA chip and sends a control instruction to the transmission module according to the data information;

[0025] 7) The motor of the transmission module receives the control command to reverse, and the reducer connected to the motor transmission reduces speed and increases torque, and transmits power to the large bevel gear of the bevel gear set through the transmission shaft. The large bevel gear drives the small bevel gear to rotate, and the gear shaft rotates with the rotation of the small bevel gear;

[0026] 8) The rotation of the gear shaft drives the wire rope, and the wire rope pulls the capture device to release the captured target organisms.

[0027] Compared with the prior art, the present invention has the following beneficial effects:

[0028] The device of the present invention can be operated under the monitoring of a PC, and at the same time supports an embedded human-machine interface with a touch screen to operate independently from the PC, integrates PLC process logic control and motion control functions, and has good versatility.

[0029] The present invention adopts the technical means of bionic design. The designed encirclement and capture device can open and close like petals, and can capture and release soft deep-sea creatures such as jellyfish, octopus, squid, etc., and cooperate with the sampling device to directly sample in the sea, thereby overcoming the problem of the prior art that underwater creatures need to be caught out of the sea and sampled on shore when sampling, thereby reducing the situation of underwater creatures causing death or serious injury during the sampling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The invention discloses a novel trapping and sampling device which does not harm soft deep-sea organisms.

[0031] The description of the accompanying drawings is as follows: 1. motion controller; 2. reducer; 3. transmission shaft; 4. bevel gear set; 5. gear shaft; 6. wire rope; 7. rotating part; 8. motor; 9. capture device; 10. housing; 11. tension spring; 12. rotation point; 13. sampling device; 14. binocular camera. DETAILED DESCRIPTION

[0032] The present invention is further described and illustrated below in conjunction with specific embodiments. The embodiments are merely exemplary of the present disclosure and do not define the scope of limitation. The technical features of each embodiment of the present invention may be combined accordingly without conflicting with each other.

[0033] The embodiment of the present invention discloses a novel trapping and sampling device that does not harm soft deep-sea organisms. Figure 1As shown, the novel capture sampling device of the present invention that does not harm soft deep-sea organisms includes: motion controller 1, reducer 2, transmission shaft 3 bevel gear set 4, gear shaft 5, wire rope 6, rotating part 7, motor 8 capture device 9, shell 10, tension spring 11, sampling device 13, binocular camera 14. In the motion controller 1, the power module can provide electricity for the entire capture sampling device, the circuit board is connected to the host computer for communication, the FPGA chip and the STM chip are arranged on the circuit board and connected, and the STM chip is connected to the USB interface, RS232 interface, and JTAG interface; the host computer communicates and transmits with the STM chip through the USB interface, RS232 interface, and JTAG interface; the internal STM chip transmits data to the FPGA chip 2 for data processing, and the data is transmitted to the motor through the FPGA expansion pin, and the feedback signal of the sensor is received at the same time, and is fed back to the STM chip after processing. Then the STM chip sends a control instruction to the motor, which is decelerated and torque-increased through the reducer 2. Then the torque passes through the transmission shaft 3, the bevel gear set 4, the gear shaft 5, the wire rope 6, and the rotating part 7 to control the capture device 9 to complete the action.

[0034] In motion controller 1, the USB interface uses TPS2041BDBV to implement USB hot plugging and act as a power switch, while also providing thermal protection, ESD protection, and short circuit protection.

[0035] In this example, the model of the FPGA chip is EP4CE10F17C8, which has 10k logic units, 179 configurable I / O ports, 414kbit embedded RAM resources, two independent PLL phase-locked loops, and 10 global clock networks; the package used by the FPGA chip is FBGA256. In other embodiments, the chip of the development unit uses other embedded chips such as MCU chips. Other embedded chips are also suitable for the system architecture of this patent.

[0036] The JTAG interface is used as the port for debugging, fixing and downloading programs of the chip on the development board.

[0037] The human-computer interaction unit includes: LCD display, LCD driver controller, touch screen controller and driver chip; the LCD driver controller of the LCD screen is RA8875, which is connected to STM32 through a parallel bus, and the touch screen controller is integrated inside the RA8875 chip; the driver chip uses tps61040 and cat4139 to drive the LCD;

[0038] FPGA chip is based on SRAM structure, that is, the downloaded netlist is stored in SRAM inside FPGA. SRAM has the characteristic of being volatile when power is off, and its function will disappear after power is off. In order to make the netlist still exist after power is turned on again, it is necessary to store the netlist in flash outside the chip. The flash chip model is W25Q16, with a storage capacity of 16Mbit (2M bytes). It uses SPI protocol to communicate with FPGA and can be used as FPGA configuration chip (fully compatible with EPCS16 chip) to ensure that FPGA can continue to work after power is turned on again.

[0039] Combine the following Figure 1 To illustrate the working principle of the present invention.

[0040] The present invention provides a novel capture sampling device that does not harm soft deep-sea creatures. First, the USB interface is directly inserted into the USB interface of the computer PC to achieve communication connection with the PC. The program is downloaded and debugged through the upper computer software of the PC. After debugging, the netlist is stored in the flash outside the chip, and it can continue to work after powering on again. Remove the PC, let the sampler run alone, and input the control parameters through the human-machine interface interaction unit of the lower computer. Then seal it into the water, and observe in real time through the binocular camera at the bottom of the capture device 9. The FPGA uses its powerful real-time data processing ability to judge the distance between the target organism and the capture device 9. Once the conditions are met, the FPGA will communicate with the STM, and the STM chip will send instructions to control the motor to rotate forward, and then reduce the speed and increase the torque through the reducer 2. The torque is transmitted to the bevel gear group 4 through the transmission shaft 3. In this embodiment, the bevel gear group includes a large bevel gear and five small bevel gears. The gear shaft 5 rotates with the rotation of the gear shaft. Figure 1 There are four bevel gear shafts evenly arranged horizontally with the gear shaft 5 that are not drawn. Their movements are similar to those of the gear shaft 5. The rotation of the gear shaft 5 drives the soft steel wire rope 6 to relax, and the shell 10 is pulled closed by the tension spring 11. Only one-fifth is introduced here. The other four structural movements are the same as this one, and then the trapping device 9 successfully traps the mollusk. During this period, various sensors will feed back the rotation speed of the motor and the opening and closing size of the trapping device 9 to the FPGA chip. The FPGA chip sends the data results to the STM, and the STM sends a signal to adjust the motor speed direction, etc. When the sampling device 13 completes the sampling, it feeds back the sampling completion information to the controller, and the controller controls the motor to reverse, and then reduces the speed and increases the torque through the reducer 2. The torque is transmitted to the bevel gear set 4 through the transmission shaft 3. In this embodiment, the bevel gear set includes a large bevel gear and five small bevel gears. The gear shaft 5 rotates with the rotation of the small gear shaft. Figure 1There are four small bevel gear shafts evenly arranged horizontally with the gear shaft 5, which are not drawn. The movement is similar to the gear shaft 5. The rotation of the gear shaft 5 drives the soft steel wire rope 6 to be tightened, and the housing 10 is pulled open under the action of the tension spring 11. Only one-fifth is introduced here. The other four structural movements are the same as this. Then the trapping device 9 successfully releases the mollusk, and the sampling has been successfully completed here. At the same time, the binocular camera 14 will record the trapping and sampling process.

[0041] From the perspective of practical application, the present invention combines the current development status and trend of samplers, as well as the latest technologies in the field of microelectronics and computers, and innovatively proposes to use STM32+FPGA chips as hardware platforms; FPGA chips are used to complete logic control, feedback and processing of hardware signals, and control of external devices. STM32 uses a variety of communication buses and host computers to complete data communication to adapt to different application scenarios, and completes a variety of calculation and control tasks according to the instructions of the host computer; at the same time, it also innovatively proposes a design model of a flexible trapping device, which realizes gentle sampling without endangering the life of organisms.

[0042] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. For ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A deep-sea organism capture and sampling device, characterized in that: include The execution module comprises a trapping device and a sampling device (13), wherein the trapping device is used to trap the target organism, and the sampling device (13) is used to sample the target organism, and the sampling device (13) comprises a rigid support shaft and a telescopic sampling needle arranged inside the rigid support shaft, and the rigid support shaft is connected to the trapping device; A monitoring module, including a binocular camera, is used to monitor the real-time status of the capture device and generate a feedback signal, and to detect the sampling status of the sampling device (13) and generate sampling information; A motion controller (1) comprises an FPGA chip and an STM chip; the FPGA chip is used to receive a feedback signal generated by the monitoring module, determine the distance between the trapping device and the target organism according to the feedback signal, and generate data information; the FPGA chip is also used to receive sampling information and generate data information, and the STM chip receives the data information generated by the FPGA chip and generates control instructions according to the data information; The transmission module comprises a motor, a reducer (2), a transmission shaft (3) connected to the reducer (2), a bevel gear set (4) transmission-connected to the transmission shaft, a gear shaft (5) arranged on the bevel gear set, and a wire rope (6) connected to the gear shaft (5); the motor receives a control instruction and performs forward or reverse rotation according to the control instruction; the reducer (2) is transmission-connected to the motor; the bevel gear set comprises a large bevel gear and a plurality of small bevel gears, the large bevel gears and the small bevel gears are meshed; the large bevel gear is arranged on the transmission shaft (3), and the small bevel gears are connected to the gear shaft (5); the gear shaft (5) is connected to the trapping device via the wire rope (6); A power supply, used to provide power to the execution module, the monitoring module, the motion control module and the transmission module; The trapping device comprises a plurality of shells, each of which is arranged on a rotating member (7) and can be closed around the rotating member (7) to form a hollow spherical shell; the number of the shells is the same as the number of the small bevel gears, and each shell is connected to a small bevel gear via a steel wire rope (6); The shell is provided with a tension spring (11), one end of the tension spring (11) is connected to the shell, and the other end is connected to the rotating member (7); when the steel wire rope (6) is loose, the shell is closed around the rotating point (12) under the action of the tension spring; when the steel wire rope (6) is tightened, the shell overcomes the action of the tension spring and opens around the rotating point (12); the rotating point (12) is the hinge point of the shell on the rotating member (7); The motor of the transmission module receives the control command to rotate forward, and the reducer connected to the motor transmission reduces speed and increases torque, and transmits power to the large bevel gear of the bevel gear group through the transmission shaft. The large bevel gear drives the small bevel gear to rotate, and the gear shaft rotates with the rotation of the small bevel gear; the rotation of the gear shaft drives the wire rope, and the wire rope pulls the capture device to capture the target organism; when the target organism is captured, the STM chip sends a control command to the sampling device, and the telescopic sampling needle extends from the inside of the rigid support shaft to sample the captured target organism.

2. The trapping sampling device according to claim 1, characterized in that: The motion controller (1) also includes a FLASH chip as a power-on configuration device for the FPGA chip, and the FLASH chip is used to ensure that the FPGA chip can continue to work after being powered on again.

3. The trapping sampling device according to claim 1, characterized in that: The motion controller further comprises a human-machine interface interaction unit, and the human-machine interface interaction unit is used to input control parameters of the motor, and the control parameters include the direction and speed of rotation of the motor.

4. The trapping sampling device according to claim 1, characterized in that: The round-up sampling device is also provided with a speed sensor and a position sensor.

5. The trapping sampling device according to claim 1, characterized in that: The motion controller (1) is also provided with an auxiliary circuit interface; the auxiliary circuit interface comprises a USB interface, a TPS2041BDBV chip, an SP3232 chip, a clock circuit, a reset circuit and an ARM CoreSight debugging interface.

6. A method for collecting and sampling based on the collecting and sampling device according to claim 1, characterized in that: The following steps are involved: 1) placing the trapping sampling device in an area with a sampling target, and monitoring the trapping device in real time by a binocular camera; 2) The binocular camera sends feedback information to the control module. The FPGA chip determines the distance between the trap and the target organism based on the feedback signal. When the distance reaches the set threshold range, the FPGA chip generates data information and sends the data information to the STM chip. The STM chip receives the data information generated by the FPGA chip and issues control instructions to the transmission module based on the data information. 3) The motor of the transmission module receives the control command to rotate forward, and the reducer connected to the motor transmission reduces speed and increases torque, and transmits power to the large bevel gear of the bevel gear set through the transmission shaft. The large bevel gear drives the small bevel gear to rotate, and the gear shaft rotates with the rotation of the small bevel gear; 4) The rotation of the gear shaft drives the wire rope, and the wire rope pulls the trapping device to trap the target organisms; 5) When the target organism is captured, the STM chip sends a control command to the sampling device, and the retractable sampling needle extends from the inside of the rigid support shaft to sample the captured target organism; 6) After the sampling is completed, the telescopic sampling needle retracts into the rigid support shaft; the binocular camera feeds back the sampling information to the FPGA chip, the FPGA chip generates data information and sends it to the STM chip, the STM chip receives the data information generated by the FPGA chip and sends a control instruction to the transmission module according to the data information; 7) The motor of the transmission module receives the control command to reverse, and the reducer connected to the motor transmission reduces speed and increases torque, and transmits power to the large bevel gear of the bevel gear set through the transmission shaft. The large bevel gear drives the small bevel gear to rotate, and the gear shaft rotates with the rotation of the small bevel gear; 8) The rotation of the gear shaft drives the wire rope, and the wire rope pulls the capture device to release the captured target organisms.

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